AGRICULTURAL TOOLBAR APPARATUS, SYSTEMS, AND METHODS
Systems, methods and apparatus for shifting weight between a tractor and toolbar and between sections of the toolbar and for folding a toolbar between a work position and a transport position.
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Agricultural toolbars such as planters have become larger and heavier as farming operations have become larger. Thus growers have increasingly recognized the potential to improve yield by reducing compaction damage by such toolbars. As a result, there is a need in the art for systems, apparatus and methods of shifting weight between the toolbar and the tractor and between sections of the toolbar in order to reduce agronomic damage from compaction. Additionally, the time pressure in performing planting operations has created a need in the art for effective and efficient systems, apparatus and methods of folding agricultural toolbars between field position and a planting position, and especially for toolbars having a field position in which turns and changes in topography are effectively negotiated.
Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,
Wing wheel assemblies 600 are preferably pivotally coupled to distal ends of outer wing sections 110. Center wheel assemblies 200 are preferably pivotally coupled to distal ends of the center bar 330.
Comparing
Referring to
Referring to
Referring to
A joint plate 480 is pivotally mounted to the hitch tower 490 by two pins 410a, 410b. The joint portion 480 pivots with respect to the hitch tower 490 about a generally vertical axis extending through the pins 410a, 410b. The joint plate 480 is pivotally mounted to a lower joint plate 425 by a pin 420. The joint plate 480 pivots with respect to the lower joint plate 425 about a generally longitudinal axis extending through the pin 420. The lower joint plate 425 is pivotally mounted to the weight transfer assembly 500 by a pin 430. The lower joint plate 425 rotates with respect to the weight transfer assembly 500 about a generally horizontal transverse axis extending through the pin 430.
Referring to
Again referring to
Referring to
Referring to
Referring to
Referring to
Thus in the field position, the interior volumes 940, 930, 920, 910 form a single interior volume 900 (
Ground-engaging tools such as planter row units, such as those illustrated in U.S. Pat. No. 6,932,236, incorporated herein in its entirety by reference, may be mounted to the center bar 330 and outer wing sections 110. Vacuum meters associated with said row units are preferably in fluid communication with the vacuum ports 115, 335. In other embodiments, other ground-engaging tools such as coulters may be mounted to the center bar 330 and the outer wing sections 110.
Control SystemsReferring to
The fluid control system 810 preferably comprises a set of electro-hydraulic control valves, each in fluid communication with one or more chambers of the associated actuator. Each control valve includes a solenoid or other electronic control which is in electronic communication with a monitor 830. The monitor 830 includes a central processing unit (CPU), a memory, and a user interface such as a touch-screen graphical user interface. The monitor 830 is also preferably in electrical communication with center wheel position sensors 860, wing wheel position sensors 864, center wheel load sensors 822, and wing wheel load sensors 862.
The center wheel position sensors 860 and wing wheel position sensors 864 preferably comprise Hall-Effect sensors configured to detect the rod extension of the center wheel actuators 220 and the wing wheel actuators 620, respectively. The center wheel load sensors 822-1, 822-2 comprise sensors configured to detect the load carried by the center wheel actuators 220-1, 220-2. Specifically, the center wheel load sensors 822-1, 822-2 may comprise instrumented pins by which the head ends of the center wheel actuators 220-1, 220-2 are mounted to the mounting bars 210-1, 210-2 (see
The selective control valve 814 is in fluid communication with the latch actuator 370 via a solenoid-operated directional valve 1640. The directional valve 1640 is in electrical communication with the monitor 830. In operation, the monitor 830 enables latch operation by opening the directional valve 1640. The operator selects the direction of latch motion (i.e., extension or retraction of the latch cylinder 370) by selecting the position of the selective control valve 814.
Control Systems—Lift HydraulicsThe solenoid operated directional valve 1734, the solenoid operated one way blocking valve 1744, the solenoid operated directional valve 1755, and the solenoid operated directional valve 1733 are preferably in electrical communication with the monitor 830.
In operation of the control system 1700 in the configuration illustrated in
In operation of the control system 1700 in the configuration illustrated in
In other operator-selected configurations of the control system 1700, the wing wheel actuators 620 may be extended and retracted while blocking oil flow to the center wheel actuators 220 by modifying the positions of the valves 1733, 1755, 1744, 1734.
A rephasing valve 1715 is preferably in fluid communication with each of the actuators 620, 220, allowing the actuators to continue extension or retraction if the equivalent actuator on the other side of the toolbar 10 reaches the fully extended or retracted position first.
Control Systems—Weight Management HydraulicsThe power beyond port 816 and the tank port 1604 are in fluid communication with the rod end of the weight transfer actuator 520 via a solenoid operated pressure reducing-relieving valve 1810 and a pilot operated directional valve 1815. The head end of the weight transfer actuator is in fluid communication with the tank port 1604. The valve 1810 is in electrical communication with the monitor 830. In operation, the monitor 830 sends a command current to the valve 1810 in order to create a desired lift pressure in the weight transfer actuator 520. When the monitor 830 sets the lift pressure to the tank pressure (e.g., 0 psi), the valve 1815 places the rod end of the actuator 520 in fluid communication with the tank port 1604, allowing the rod of the actuator 520 to float.
The monitor 830 is preferably configured to allow the operator to select desired weight transfer parameters. A screen 1900 for entering desired weight transfer parameters and displaying actual weight transfer parameters is illustrated in
The screen 1900 also preferably includes a comparison window 1925. The comparison window 1925 preferably displays the desired (“Target”) and measured (“Actual”) values of the forces displayed in the window 1902. In alternative embodiments, the comparison window 1925 graphically illustrates the difference between desired and measured weight and pressure values.
The screen 1900 includes a force limit modification window 1950. The window 1950 enables the operator to modify the maximum lift pressure in the weight transfer actuator 520 by pressing the “Increase” and “Decrease” arrows. The window 1950 also preferably displays the current maximum lift pressure.
The screen 1900 also preferably includes an enablement window 1930. When the operator presses the enablement window 1930, the monitor 830 cycles between “Enabled” and “Disabled” modes. In the “Enabled” mode, the monitor 830 controls the pressures in the weight transfer actuator 520 and wing flex actuators 122 as described herein. In the “Disabled” mode, the monitor 830 sends a command current to the valves 1810, 1820, 1825 corresponding to the tank line pressure (e.g., 0 psi), placing the actuators 520, 122 in a float mode.
The screen 1900 also preferably includes a control mode selection window 1940. The window 1940 enables the operator to choose between control modes (described later herein) by selecting either the “Auto” or “Manual” buttons.
The operator may enter desired parameters corresponding to the “Auto” control mode by selecting an automatic mode setup window 1960 in the screen 1900. Selection of the window 1960 preferably opens the automatic mode setup screen 2000 illustrated in
Rather than entering an estimated weight in field 2020, the operator may press the lookup button 2022. Pressing the lookup button 2022 preferably opens a lookup screen 2200 as illustrated in
The operator may enter desired parameters corresponding to the “Manual” control mode by selecting a manual mode setup window 1970 in the screen 1900. Selection of the window 1970 preferably opens the manual mode setup screen 2100 illustrated in
The fluid control system 810 controls the wing fold actuators 132 in a flow control mode. In response to a command entered into the monitor 830 or manipulation of the selective control valve 814, the fluid control system 810 extends and retracts the wing fold actuators 132 in order to reconfigure the toolbar 10 into its transport position and field position, respectively.
The fluid control system 810 controls the wing wheel actuators 620 and the center wheel actuators 220 in a flow control mode. In response to a command entered into the monitor 830 or manipulation of the selective control valve 814, the fluid control system 810 extends or retracts the wing wheel actuators 620 and the center wheel actuators 220 between several operative positions. The operative positions of the wheel actuators 620 and the center wheel actuators 220 include a field position, a more retracted transport position and an end-of-row turning position between the field position and the transport position.
A process 2300 for folding the toolbar from the transport position to the field position is illustrated in
A process 2350 for folding the toolbar from the transport position to the field position is illustrated in
The monitor 830 is preferably configured to raise the toolbar from the field position to an end-of-row turn configuration by simultaneously extending the center wheel actuators 220 and the wing wheel actuators 620 until a predetermined signal is received from either or both of the wing wheel position sensors 864 or the center wheel position sensors 860. The monitor 830 is also preferably configured to return the toolbar from the end-of-row turn configuration to the field position by fully retracting the wing wheel actuators 620.
Control Methods—Weight ManagementThe fluid control system 810 preferably controls the weight transfer actuator 520 and the wing flex actuators 122 in a pressure control mode. Several methods of weight management (i.e., shifting vertical loads between the tractor, the center section 300, and the wing sections 110) using the weight transfer actuator 520 and the wing flex actuators 122 are disclosed herein. It should be appreciated that in each mode, the monitor 830 commands the desired pressures by sending command signals to the pressure reducing-relieving valves associated with the actuators 122, 520.
Control Methods—Weight Management—Command-Based ModeIn a command-based weight management mode, the monitor 830 commands the constant pressures entered in fields 2112, 2114, 2116 of the manual mode setup screen 2100 (
In a feedback-based weight management mode, the monitor 830 commands pressures to the actuators 520, 122-1, 122-2 based on desired ranges of measured loads on the center wheel assemblies 200, wing wheel 600-1, and wing wheel 600-2. The desired ranges of measured loads are preferably based on targets entered by the operator in fields 2126, 2122, 2124 of the manual mode setup screen 2100 (
A wing flex actuator control process 1300 for controlling each wing flex actuator 122 in a feedback-based mode is illustrated in
A weight transfer actuator control process 1302 for controlling the weight transfer actuator 520 in a feedback-based mode is illustrated in
In a weight-balancing weight management mode, the monitor 830 commands pressures to the actuators 520, 122-1, 122-2 based on a desired division of weight between the tractor, the center wheel assemblies 200, and the wing wheels 600. The desired balance of measured loads is preferably based on the values entered in fields 2025-1, 2025-2, 2030 using the screen 2000.
A control loop 1410 for controlling each wing flex actuator 122 in a weight-balancing mode is illustrated in
Reference Input=Wf(FC1+FC2−FH−T)
Where:
-
- Wf is the wing weight transfer percentage, preferably entered in one of the fields 2025 of the automatic mode setup screen 2000, expressed as a fraction;
- FC1 and FC1 are the signals from the center wheel load sensors 822-1, 822-2, respectively;
- FH is an estimate of the amount of weight transferred from the toolbar 10 to the tractor, e.g., using a multiplier (related to the effective area over which the cylinder pressure is imposed and the mechanical advantage of the weight transfer assembly 500) of the commanded pressure in the weight transfer actuator 520; and
- T is the estimated weight on the tractor rear wheels or track portions, either entered by the operator in field 2020 of the automatic mode setup screen 2000 or determined as described herein with respect to
FIG. 22 .
The monitor 830 adjusts the pressure in control valves 1825, 1820 associated with the wing flex actuator 122 in order to reduce the measured error between the reference input 1412 and the measured output of the wing wheel load sensor 862. The monitor preferably also compares either the commanded wing flex actuator pressure or the wing wheel load sensor signal to a lower limit such that the control loop 1400 does not reduce the wing flex actuator pressure below either the lower limit pressure or the pressure corresponding to the lower limit of the wing wheel load sensor signal.
In other embodiments, the reference input 1412 is calculated according to the relation:
Reference Input=Wf(FC−FH−T/2)
Where:
-
- FC is the signal from the center wheel load sensor 822 associated with the center wheel on the same lateral side of the toolbar as the wing wheel.
In other embodiments, the reference input 1412 is calculated according to the relation:
Reference Input=Wf(FC).
The wing weight transfer percentage Wf is preferably a predetermined value or may be based on user inputs as described herein. The wing weight transfer percentage is preferably based on a ratio between agronomic damage caused by weight on the center wheels and agronomic damage caused by weight on the wing wheels. The wing weight transfer percentage Wf is preferably between 5 percent and 20 percent.
A method 2400 for controlling the pressure in the weight transfer actuator 520 is illustrated in
If the weight transfer actuator pressure is outside the predetermined range of step 2405, at step 2410 the monitor 830 adjusts the weight transfer actuator pressure to the closest end of the predetermined range. For example, if the commanded weight transfer actuator pressure is less (more negative) than predetermined minimum, the monitor 830 adjusts the weight transfer actuator pressure to the predetermined minimum.
If the weight transfer actuator pressure is within the predetermined range of step 2405, at step 2415 the monitor 830 preferably determines whether the sum of the toolbar wheel weights (i.e., the sum of the signals from the center wheel load sensors 822 and the wing wheel load sensors 862) is at least a predetermined minimum, e.g., 4000 pounds. In other embodiments, the monitor 830 instead determines whether the sum of the center wheel load sensor signals is at least another predetermined minimum. It should be appreciated that a minimum weight on the toolbar weight is required in order for ground-engaging tools to function properly, e.g., for planter row units to achieve full trench depth; thus the predetermined minimum is preferably empirically determined in order to ensure that the ground-engaging tools can properly engage the ground. If the sum of the toolbar wheel weights is less than the predetermined minimum of step 2415, then at step 2420 the monitor 830 preferably reduces the weight transfer actuator pressure by a step (e.g., by a predetermined interval, by a predetermined percentage of the current actuator pressure, or using a PID algorithm).
If the sum of the toolbar wheel weights is less than the predetermined minimum of step 2415, then at step 2425 the monitor 830 preferably adjusts the weight transfer actuator pressure using a control loop based on wheel downforce (e.g., the sum of the signals from the center wheel load sensors 822) in order to minimize the agronomic damage to the soil by the tractor wheels and the toolbar center wheels.
It has been determined empirically that approximately 80% of the compaction of soil (and related agronomic damage) occurs during the first compaction event. Thus where the center wheel assemblies 200 follow in the path of the tractor wheels or tracks, agronomic benefits result from equalized loads between the rear tractor wheels and the center wheel assemblies. Thus a control loop 1420 to be used at step 2425 of the process 2400 for adjusting the pressure in the weight transfer actuator 520 in a weight-balancing mode is illustrated in
Reference Input=Hf(FH+T)
Where:
-
- Hf is the hitch weight transfer percentage expressed as a fraction; and
- FH and T are the values described above with respect to
FIG. 14A .
The monitor 830 adjusts the pressure in the control valve 1810 associated with the weight transfer actuator 520 in order to reduce the measured error between the reference input 1422 and the sum of the measured output of the center wheel load sensors 822.
In some embodiments, the hitch weight transfer fraction Hf is entered in the fields 2030 of the automatic mode setup screen 2000 for storage in the memory of the monitor 830 as described above. In other embodiments, the hitch weight transfer fraction Hf is determined in order to equalize the agronomic damage done by the tractor rear wheels or tracks and the toolbar center wheels. Depending on the variables including the model of the tractor, the types of tractor wheels or tracks, and the toolbar wheel configuration, and the type of toolbar wheels (all of which may preferably be selected using a screen similar to the screen 2200 described herein with reference to
In other embodiments of the control system 800, the solenoid operated valves are in electrical communication with an electronic control box located in the tractor cab such that the operator may alter the operating states of the valves without use of the monitor 830. Thus in methods disclosed herein in which the monitor 830 commands a change in operational state of a solenoid operated valve, it should be appreciated that the operator may accomplish such steps using such an electronic control box.
The disclosure of Applicant's co-pending International Patent Application No. PCT/US12/40756 is hereby incorporated herein in its entirety by reference.
The foregoing description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the spirit and scope of the appended claims.
Claims
1. An agricultural toolbar, said toolbar comprising:
- a left member pivotally coupled to the toolbar;
- a right member pivotally coupled to the toolbar; and
- a synchronizing mechanism whereby said left member and said right member are operably engaged, whereby said left member and said right member are constrained to pivot symmetrically about a vertical longitudinal plane.
2. The agricultural toolbar of claim 1, wherein said synchronizing mechanism comprises a left gear and a right gear complementary to and operably engaging a second gear.
3. The agricultural toolbar of claim 2, wherein said left gear is pivotally mounted to a proximal end of the left member and said right gear is pivotally mounted to a proximal end of the right member.
4. The agricultural toolbar of claim 1, wherein said toolbar has a field position and a transport position, wherein said left member and said right member are oriented generally longitudinally in said transport position, wherein said left member and said right member have a different orientation in said field position than in said transport position, and wherein said synchronizing mechanism constrains the toolbar to fold symmetrically about a vertical longitudinal plane.
5. The agricultural toolbar of claim 1, wherein when said left member rotates by a first angle, said right member is constrained to rotate by a second angle substantially equal and opposite to said first angle.
6. The agricultural toolbar of claim 1, further comprising:
- a left wing section having a first plurality of ground-engaging tools mounted thereto; and
- a right wing section having a second plurality of ground-engaging tools mounted thereto, wherein said toolbar has a field position in which said wing sections extend generally transversely and a transport position in which said wing sections extend generally longitudinally, and wherein as the toolbar folds from said field position to said transport position, a proximal end of each said wing section moves rearward relative to the tractor and a distal end of each said wing section moves inward.
7. The agricultural toolbar of claim 6, wherein when said left wing section rotates through a first angle, said right wing section is constrained to rotate by a second angle substantially equal and opposite to said first angle.
8. The agricultural toolbar of claim 7, further comprising:
- a transversely extending center bar having a plurality of ground-engaging tools mounted thereto, said center bar supported by a plurality of ground-engaging wheels, wherein said center bar moves rearward relative to the tractor as the toolbar folds from said field position to said transport position.
9. The agricultural toolbar of claim 6, wherein said left wing section is pivotally coupled to the toolbar at a left horizontal pivot axis, wherein said left horizontal pivot axis extends generally longitudinally, wherein said right wing section is pivotally coupled to the toolbar at a right horizontal pivot axis, wherein said right horizontal pivot axis extends generally longitudinally, wherein said left member is pivotally coupled to the toolbar at a left outboard pivot axis, and wherein said right member is pivotally coupled to the toolbar about a right outboard pivot axis.
10. The agricultural toolbar of claim 9, wherein said left outboard pivot axis is located outboard of said left horizontal pivot axis when the toolbar is in said field position, and wherein said right outboard pivot axis is located outboard of said right horizontal pivot axis when the toolbar is in said field position.
11. The agricultural toolbar of claim 10, further comprising:
- a left inner wing section pivotally coupled to said center bar for pivoting about a generally vertical axis; and
- a right inner wing section pivotally coupled to said center bar for pivoting about a generally vertical axis.
12. The agricultural toolbar of claim 11, further comprising:
- a left dogleg rigidly mounted to said left inner wing section, said left dogleg extending generally transversely; and
- a right dogleg rigidly mounted to said right inner wing section, said right dogleg extending generally transversely, wherein said left member is pivotally coupled to said left dogleg, and wherein said right member is pivotally coupled to said right dogleg.
13. The agricultural toolbar of claim 11, further comprising:
- a left wing actuator disposed to transfer a moment between said left inner wing section and said left wing section; and
- a right wing actuator disposed to transfer a moment between said right inner wing section and said right wing section.
14. The agricultural toolbar of claim 13, wherein said left wing actuator is in fluid communication with a pressure control valve.
15. The agricultural toolbar of claim 14, further including:
- processing circuitry configured to modify a pressure set by said pressure control valve, wherein said pressure control valve is in electrical communication with said processing circuitry.
16. The agricultural toolbar of claim 1, further including:
- a weight transfer frame coupled to a tractor hitch, wherein said left member and said right member are pivotally coupled to said center frame.
17. The agricultural toolbar of claim 16, further comprising:
- a weight transfer actuator disposed to transfer weight between said tractor and the toolbar, said weight transfer actuator pivotally coupled to said weight transfer frame.
18. The agricultural toolbar of claim 17, wherein said weight transfer actuator is a dual-acting hydraulic cylinder, wherein when the weight transfer actuator applies force in a first direction, weight is transferred from the toolbar to the tractor, and wherein when the weight transfer actuator applies force in a second direction, weight is transferred from the tractor to the toolbar.
19. The agricultural toolbar of claim 17, wherein said weight transfer actuator is in fluid communication with a pressure control valve, wherein said pressure control valve is configured to select a pressure in said weight transfer actuator.
20. The agricultural toolbar of claim 19, further including:
- processing circuitry configured to modify a pressure set by said pressure control valve, wherein said pressure control valve is in electrical communication with said processing circuitry.
21. An agricultural toolbar, comprising:
- a longitudinally extending weight transfer frame; and
- a weight transfer actuator disposed to transfer weight between said tractor and the toolbar, said weight transfer actuator pivotally coupled to said weight transfer frame.
22. The agricultural toolbar of claim 21, wherein said weight transfer actuator is in fluid communication with a pressure control valve, wherein said pressure control valve is configured to select a pressure in said weight transfer actuator.
23. The agricultural toolbar of claim 22, further including:
- processing circuitry configured to modify a pressure set by said pressure control valve, wherein said pressure control valve is in electrical communication with said processing circuitry.
24. The agricultural toolbar of claim 21, wherein said weight transfer actuator is a dual-acting hydraulic cylinder, wherein when the weight transfer actuator applies force in a first direction, weight is transferred from the toolbar to the tractor, and wherein when the weight transfer actuator applies force in a second direction, weight is transferred from the tractor to the toolbar.
25. The agricultural toolbar of claim 23, wherein said weight transfer actuator is a dual-acting hydraulic cylinder, wherein when the weight transfer actuator applies force in a first direction, weight is transferred from the toolbar to the tractor, and wherein when the weight transfer actuator applies force in a second direction, weight is transferred from the tractor to the toolbar.
26. The agricultural toolbar of claim 25, further including:
- a transversely extending center bar;
- a latch configured to latch said center bar to said weight transfer frame;
- a latch actuator configured to selectively engage said latch; and
- a directional control valve located in a cab of the tractor, wherein said weight transfer actuator is in fluid communication with said directional control valve, whereby an operator is enabled to selectively latch said center bar to said weight transfer frame by manipulating said directional control valve.
27. The agricultural toolbar of claim 21, further including:
- a left wing section having a first plurality of ground-engaging tools mounted thereto; and
- a right wing section having a second plurality of ground-engaging tools mounted thereto, wherein said toolbar has a field position in which said wing sections extend generally transversely and a transport position in which said wing sections extend generally longitudinally, and wherein as the toolbar folds from said field position to said transport position, said center bar moves rearward relative to the tractor and a distal end of each said wing section moves inward.
28. The agricultural toolbar of claim 27, further comprising:
- a left wing actuator disposed to impose a moment on said left wing section; and
- a right wing actuator disposed to impose a moment on said right wing section.
29. The agricultural toolbar of claim 28, wherein said left wing actuator is in fluid communication with a wing actuator pressure control valve.
30. The agricultural toolbar of claim 29, further including:
- processing circuitry configured to modify a pressure set by said wing actuator pressure control valve, wherein said pressure control valve is in electrical communication with said processing circuitry.
31. A method of transferring weight between a tractor and an agricultural toolbar, comprising:
- determining a net toolbar ground force acting on a plurality of toolbar wheels supporting the toolbar;
- determining an estimated tractor weight carried by the rear tractor wheels of the tractor based on a user input;
- determining an estimated tractor weight transfer amount transferred between the tractor and the toolbar based on a pressure in an actuator configured to transfer weight between the tractor and the toolbar;
- calculating a net tractor ground force by adding said weight transfer amount to said estimated tractor weight;
- comparing said net tractor ground force to said net toolbar ground force; and
- modifying a pressure in said actuator so that said net toolbar ground force more closely approximates said net tractor ground force.
32. The method of claim 31, further including:
- applying a multiplier to the net tractor ground force before comparing said net tractor ground force to said net toolbar ground force.
33. The method of claim 32, wherein said multiplier is based on a user input.
34. The method of claim 33, wherein said multiplier is based on a first factor related to the agronomic damage by said tractor wheels per pound of ground force applied to said tractor wheels and a second factor related to the agronomic damage by said toolbar wheels per pound of ground force applied to said toolbar wheels.
35. The method of claim 34, wherein said multiplier is based on a ratio between said first factor and said second factor.
36. The method of claim 31, wherein said toolbar wheels support a center section of the toolbar, further including:
- applying a left wing moment to a left wing section pivotally coupled to said center section;
- applying a right wing moment to a right wing section pivotally coupled to said center section;
- determining a right wing wheel ground force acting on a right wing wheel supporting said right wing section at a distal end;
- determining a left wing wheel ground force acting on a left wing wheel supporting said left wing section at a distal end;
- comparing said left wing wheel ground force to a first desired value;
- comparing said right wing wheel ground force to second desired value;
- modifying said left wing moment such that said left wing wheel ground force more closely approximates said first desired value; and
- modifying said right wing moment such that said right wing wheel ground force more closely approximates said second desired value.
37. The method of claim 36, wherein said first desired value and said second desired value are predetermined constant values.
38. The method of claim 36, wherein said first desired value and said second desired value are based on one or more user inputs.
39. The method of claim 36, wherein said first desired value and said second desired value are based on a ratio between agronomic damage caused by weight on the toolbar wheels and agronomic damage caused by weight on the wing wheels.
40. The method of claim 38, wherein said first desired value and said second desired value are based on a ratio between agronomic damage caused by weight on the toolbar wheels and agronomic damage caused by weight on the wing wheels.
Type: Application
Filed: Jan 25, 2013
Publication Date: Dec 25, 2014
Patent Grant number: 9883623
Applicant: Precision Planting LLC (Tremont)
Inventors: Dale M. Koch (Tremont, IL), Jason J. Stoller (Morton, IL)
Application Number: 14/374,749
International Classification: A01B 73/06 (20060101);